Dreamview

Introduction

Dreamview or Apollo’s HMI module provides a web application that helps developers visualize the output of other relevant autonomous driving modules, e.g. the vehicle’s planning trajectory, car localization, chassis status etc.

Input

Currently Dreamview monitors the following messages:

• Localization, defined by Protobuf message LocalizationEstimate, which can be found in file localization/proto/localization.proto.

• Chassis, defined by Protobuf message Chassis, which can be found in file canbus/proto/chassis.proto.

• Planning, defined by Protobuf message ADCTrajectory, which can be found in file planning/proto/planning.proto.

• Monitor, defined by Protobuf message MonitorMessage, which can be found in file common/monitor/proto/monitor.proto.

• Perception Obstacles, defined by Protobuf message PerceptionObstacles, which can be found in file perception/proto/perception_obstacle.proto.

• Prediction, defined by Protobuf message PredictionObstacles, which can be found in file prediction/proto/prediction_obstacle.proto.

• Routing, defined by Protobuf message RoutingResponse, which can be found in file routing/proto/routing.proto.

Output

A web-based dynamic 3D rendering of the monitored messages in a simulated world.

Related Paper

1. Xu, J., Luo, Q., Xu, K., Xiao, X., Yu, S., Hu, J., Miao, J. and Wang, J., 2019, November. An Automated Learning-Based Procedure for Large-scale Vehicle Dynamics Modeling on Baidu Apollo Platform. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5049-5056). IEEE.

2. Jiang, S., Wang, Y., Lin, L., Lin, W., Cao, Y., Miao, J. and Luo, Q., 2020, November. DRF: A Framework for High-Accuracy Autonomous Driving Vehicle Modeling, arXiv preprint arXiv:2011.00646.